Namespaces | Classes | Typedefs | Enumerations | Functions | Variables
exotica Namespace Reference

Namespaces

 visualization
 

Classes

class  AbstractDynamicsSolver
 
class  AbstractTimeIndexedProblem
 
class  AllowedCollisionMatrix
 
struct  AttachedObject
 
class  BoundedEndPoseProblem
 
class  BoundedTimeIndexedProblem
 
struct  BoxQPSolution
 
struct  CollisionProxy
 
class  CollisionScene
 
struct  ContinuousCollisionProxy
 
class  DynamicTimeIndexedShootingProblem
 
class  EndPoseProblem
 
struct  EndPoseTask
 
class  Exception
 
class  Factory
 
class  FeedbackMotionSolver
 
struct  FunctorBase
 
class  Initializer
 
class  InitializerBase
 
class  Instantiable
 
class  InstantiableBase
 
class  KinematicElement
 
struct  KinematicFrame
 
struct  KinematicFrameRequest
 
struct  KinematicResponse
 
class  KinematicSolution
 
struct  KinematicsRequest
 
class  KinematicTree
 
class  MotionSolver
 
class  Object
 
class  PlanningProblem
 
class  Printable
 
class  Property
 
class  QuadrotorDynamicsSolver
 Quadrotor dynamics with quaternion representation Based on D. Mellinger, N. Michael, and V. Kumar, "Trajectory generation and control for precise aggressive maneuvers with quadrotors", Proceedings of the 12th International Symposium on Experimental Robotics (ISER 2010), 2010. Cf. https://journals.sagepub.com/doi/abs/10.1177/0278364911434236. More...
 
class  Registrar
 
class  RosNode
 
class  SamplingProblem
 
struct  SamplingTask
 
class  Scene
 
class  Server
 
class  Setup
 
class  SolveException
 
struct  Task
 
struct  TaskIndexing
 
class  TaskMap
 
struct  TaskSpaceVector
 
struct  TaskVectorEntry
 
class  TimeIndexedProblem
 
class  TimeIndexedSamplingProblem
 
struct  TimeIndexedTask
 
class  Timer
 
class  Trajectory
 
class  UnconstrainedEndPoseProblem
 
class  UnconstrainedTimeIndexedProblem
 
class  Uncopyable
 
class  VisualElement
 
class  VisualizationMeshcat
 
class  VisualizationMoveIt
 
class  XMLLoader
 

Typedefs

typedef Eigen::Array< KDL::Frame, Eigen::Dynamic, 1 > ArrayFrame
 
typedef Eigen::Ref< Eigen::Array< KDL::Frame, Eigen::Dynamic, 1 > > ArrayFrameRef
 
typedef const Eigen::Ref< Eigen::Array< KDL::Frame, Eigen::Dynamic, 1 > > & ArrayFrameRefConst
 
typedef Eigen::Array< Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >, Eigen::Dynamic, 1 > ArrayHessian
 
typedef Eigen::Ref< Eigen::Array< Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >, Eigen::Dynamic, 1 > > ArrayHessianRef
 
typedef const Eigen::Ref< Eigen::Array< Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >, Eigen::Dynamic, 1 > > ArrayHessianRefConst
 
typedef Eigen::Array< KDL::Jacobian, Eigen::Dynamic, 1 > ArrayJacobian
 
typedef Eigen::Ref< Eigen::Array< KDL::Jacobian, Eigen::Dynamic, 1 > > ArrayJacobianRef
 
typedef const Eigen::Ref< Eigen::Array< KDL::Jacobian, Eigen::Dynamic, 1 > > & ArrayJacobianRefConst
 
typedef Eigen::Array< KDL::Twist, Eigen::Dynamic, 1 > ArrayTwist
 
typedef Eigen::Ref< Eigen::Array< KDL::Twist, Eigen::Dynamic, 1 > > ArrayTwistRef
 
typedef const Eigen::Ref< Eigen::Array< KDL::Twist, Eigen::Dynamic, 1 > > & ArrayTwistRefConst
 
typedef std::shared_ptr< exotica::BoundedEndPoseProblemBoundedEndPoseProblemPtr
 
typedef std::shared_ptr< exotica::BoundedTimeIndexedProblemBoundedTimeIndexedProblemPtr
 
typedef struct exotica::BoxQPSolution BoxQPSolution
 
typedef std::shared_ptr< CollisionSceneCollisionScenePtr
 
typedef AbstractDynamicsSolver< double, Eigen::Dynamic, Eigen::Dynamic > DynamicsSolver
 
typedef std::shared_ptr< exotica::DynamicsSolverDynamicsSolverPtr
 
typedef std::shared_ptr< exotica::DynamicTimeIndexedShootingProblemDynamicTimeIndexedShootingProblemPtr
 
typedef std::shared_ptr< exotica::EndPoseProblemEndPoseProblemPtr
 
typedef FunctorBase< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic > Functor
 
typedef Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 > Hessian
 
typedef Eigen::Ref< Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 > > HessianRef
 
typedef const Eigen::Ref< Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 > > HessianRefConst
 
typedef std::shared_ptr< exotica::MotionSolverMotionSolverPtr
 
typedef std::shared_ptr< const PlanningProblemPlanningProblemConstPtr
 
typedef Factory< PlanningProblemPlanningProblemFac
 
typedef std::shared_ptr< PlanningProblemPlanningProblemPtr
 
typedef std::shared_ptr< exotica::SamplingProblemSamplingProblemPtr
 
typedef std::shared_ptr< SceneScenePtr
 
typedef std::shared_ptr< ServerServerPtr
 
typedef std::shared_ptr< SetupSetupPtr
 
typedef std::map< std::string, TaskMapPtrTaskMapMap
 
typedef std::shared_ptr< TaskMapTaskMapPtr
 
typedef std::vector< TaskMapPtrTaskMapVec
 
typedef std::shared_ptr< exotica::TimeIndexedProblemTimeIndexedProblemPtr
 
typedef std::shared_ptr< exotica::TimeIndexedSamplingProblemTimeIndexedSamplingProblemPtr
 
typedef std::shared_ptr< exotica::UnconstrainedEndPoseProblemUnconstrainedEndPoseProblemPtr
 
typedef std::shared_ptr< exotica::UnconstrainedTimeIndexedProblemUnconstrainedTimeIndexedProblemPtr
 

Enumerations

enum  ArgumentPosition
 
enum  BaseType
 
enum  ControlCostLossTermType
 
enum  Integrator
 
enum  JointLimitType
 
enum  KinematicRequestFlags
 
enum  RotationType {
  RotationType::QUATERNION, RotationType::RPY, RotationType::ZYX, RotationType::ZYZ,
  RotationType::ANGLE_AXIS, RotationType::MATRIX
}
 
enum  TerminationCriterion {
  TerminationCriterion::NotStarted, TerminationCriterion::IterationLimit, TerminationCriterion::BacktrackIterationLimit, TerminationCriterion::StepTolerance,
  TerminationCriterion::FunctionTolerance, TerminationCriterion::GradientTolerance, TerminationCriterion::Divergence, TerminationCriterion::UserDefined,
  TerminationCriterion::Convergence
}
 

Functions

void appendChildXML (Initializer &parent, std::string &name, bool isAttribute, tinyxml2::XMLHandle &tag, const std::string &prefix)
 
void AppendInitializer (std::shared_ptr< InstantiableBase > it, std::vector< Initializer > &ret)
 
void AppendMap (std::map< Key, Val > &orig, const std::map< Key, Val > &extra)
 
void AppendVector (std::vector< Val > &orig, const std::vector< Val > &extra)
 
BoxQPSolution BoxQP (const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init, const double th_acceptstep, const int max_iterations, const double th_gradient_tolerance, const double lambda, bool use_polynomial_linesearch=true, bool use_cholesky_factorization=true)
 
BoxQPSolution BoxQP (const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init)
 
BoxQPSolution ExoticaBoxQP (const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init)
 
BoxQPSolution ExoticaBoxQP (const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init, const double gamma, const int max_iterations, const double epsilon, const double lambda, bool use_polynomial_linesearch=false, bool use_cholesky_factorization=false)
 
std_msgs::ColorRGBA GetColor (double r, double g, double b, double a=1.0)
 
std_msgs::ColorRGBA GetColor (const Eigen::Vector4d &rgba)
 
KDL::Frame GetFrame (Eigen::VectorXdRefConst val)
 
Eigen::MatrixXd GetFrame (const KDL::Frame &val)
 
Eigen::VectorXd GetFrameAsVector (const KDL::Frame &val, RotationType type=RotationType::RPY)
 
KDL::Frame GetFrameFromMatrix (Eigen::MatrixXdRefConst val)
 
std::vector< std::string > GetKeys (std::map< std::string, T > map)
 
std::vector< Key > GetKeysFromMap (const std::map< Key, Val > &map)
 
KDL::Rotation GetRotation (Eigen::VectorXdRefConst data, RotationType type)
 
Eigen::VectorXd GetRotationAsVector (const KDL::Frame &val, RotationType type)
 
RotationType GetRotationTypeFromString (const std::string &rotation_type)
 
int GetRotationTypeLength (const RotationType &type)
 
std::string GetTypeName (const std::type_info &type)
 
std::vector< Val > GetValuesFromMap (const std::map< Key, Val > &map)
 
double huber_cost (double x, double beta)
 
double huber_hessian (double x, double beta)
 
double huber_jacobian (double x, double beta)
 
bool IsContainerType (std::string type)
 
bool IsRobotLink (std::shared_ptr< KinematicElement > e)
 
bool IsVectorContainerType (std::string type)
 
bool IsVectorType (std::string type)
 
std::string LoadFile (const std::string &path)
 
robot_model::RobotModelPtr LoadModelImpl (const std::string &urdf, const std::string &srdf)
 
void LoadOBJ (const std::string &data, Eigen::VectorXi &tri, Eigen::VectorXd &vert)
 
std::shared_ptr< octomap::OcTreeLoadOctree (const std::string &file_path)
 
std::shared_ptr< shapes::ShapeLoadOctreeAsShape (const std::string &file_path)
 
std::vector< Val > MapToVec (const std::map< Key, Val > &map)
 
void NormalizeQuaternionInConfigurationVector (Eigen::Ref< Eigen::VectorXd > q)
 
KinematicRequestFlags operator& (KinematicRequestFlags a, KinematicRequestFlags b)
 
std::ostream & operator<< (std::ostream &os, const std::vector< T > &s)
 
std::ostream & operator<< (std::ostream &os, const Printable &s)
 
std::ostream & operator<< (std::ostream &os, const std::map< I, T > &s)
 
Exception::ReportingType operator| (Exception::ReportingType a, Exception::ReportingType b) noexcept
 
KinematicRequestFlags operator| (KinematicRequestFlags a, KinematicRequestFlags b)
 
bool ParseBool (const std::string value)
 
std::vector< bool > ParseBoolList (const std::string value)
 
double ParseDouble (const std::string value)
 
int ParseInt (const std::string value)
 
std::vector< int > ParseIntList (const std::string value)
 
std::vector< std::string > ParseList (const std::string &value, char token= ',')
 
std::string ParsePath (const std::string &path)
 
Eigen::Matrix< T, S, 1 > ParseVector (const std::string value)
 
bool parseXML (tinyxml2::XMLHandle &tag, Initializer &parent, const std::string &prefix)
 
bool PathExists (const std::string &path)
 
void PrintDimensions (const std::string &name, const Eigen::Ref< const Eigen::MatrixXd > m)
 
double pseudo_huber_cost (double x, double beta)
 
double pseudo_huber_hessian (double x, double beta)
 
double pseudo_huber_jacobian (double x, double beta)
 
std_msgs::ColorRGBA RandomColor ()
 
void SaveMatrix (std::string file_name, const Eigen::Ref< const Eigen::MatrixXd > mat)
 
void SetDefaultQuaternionInConfigurationVector (Eigen::Ref< Eigen::VectorXd > q)
 
Eigen::VectorXd SetRotation (const KDL::Rotation &data, RotationType type)
 
void Sleep (double t)
 
double smooth_l1_cost (double x, double beta)
 
double smooth_l1_hessian (double x, double beta)
 
double smooth_l1_jacobian (double x, double beta)
 
ToNumber (const std::string &val)
 
double ToNumber< double > (const std::string &val)
 
float ToNumber< float > (const std::string &val)
 
int ToNumber< int > (const std::string &val)
 
std::string ToString (const KDL::Frame &s)
 
std::string ToString (const Eigen::Isometry3d &s)
 
std::string Trim (const std::string &s)
 

Variables

 ARG0
 
 ARG1
 
 ARG2
 
 ARG3
 
 ARG4
 
const char branch []
 
 FIXED
 
 FLOATING
 
 Huber
 
constexpr double inf
 
 KIN_FK
 
 KIN_FK_VEL
 
 KIN_H
 
 KIN_J
 
 L2
 
 LIMIT_POSITION_LOWER
 
 LIMIT_POSITION_UPPER
 
constexpr double pi
 
 PLANAR
 
 PseudoHuber
 
 RK1
 
 RK2
 
 RK4
 
 SmoothL1
 
 SymplecticEuler
 
 Undefined
 
const char version []
 


exotica_quadrotor_dynamics_solver
Author(s):
autogenerated on Tue Jan 19 2021 03:33:27